Dynamic Reconfiguration Manipulability analyses of humanoid bipedal walking

Yosuke Kobayashi, Mamoru Minami, Akira Yanou, Tomohide Maeba

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we propose a new index of dynamic manipulability for humanoid robot to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is being controlled, e.g., face and eyes being directed to some object. Several indexes have been proposed so far to measure statical and dynamical capability of robot manipulator. For example, Dynamic Manipulability Ellipsoid (DME) describes a distribution of hand acceleration produced by normalized joint torque. On the other hand, Reconfiguration Manipulability Ellipsoid (RME) denotes a distribution of each link velocity produced by joint angular velocity. This paper shows new index of Dynamic Reconfiguration Manipulability (DRM) combined dynamic manipulability and reconfiguration manipulability, and we have adopted the DRM to a humanoid robot, exhibiting how the DRM indicates directly the configuration-changeability of walking humanoid robot.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages4779-4784
Number of pages6
DOIs
Publication statusPublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Kobayashi, Y., Minami, M., Yanou, A., & Maeba, T. (2013). Dynamic Reconfiguration Manipulability analyses of humanoid bipedal walking. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 4779-4784). [6631258] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631258